Huissoon, ”Markovbased lane positioning using intervehicle communication

Abstract—The majority of today’s navigation techniques for intelligent transportation systems use Global Positioning Systems (GPS) that can provide position information with bounded er rors. However, due to the low accuracy that is experienced with standard GPS, it is difficult to determine a vehicle’s position at lane level. Using a Markov-based approach based on sharing information among a group of vehicles that are traveling within communication range, the lane positions of vehicles can be found. The algorithm’s effectiveness is shown in both simulations and experiments with real data. Index Terms—Global Positioning System (GPS), lane deter mination, lane-level positioning, Markov localization, vehicle navigation. I